OpenRaiser/Intern-Atlas huggingface dataset:
Whisker-based Tactile Flight for Tiny Drones
Venue: arXiv cs.RO 2025
Year: 2025

Tiny flying robots hold great potential for search-and-rescue, safety inspections, and environmental monitoring, but their small size limits conventional sensing-especially with poor-lighting, smoke, dust or reflective obstacles. Inspired by nature, we propose a lightweight, 3.2-gram, whisker-based tactile sensing apparatus for tiny drones, enabling them to navigate and explore through gentle physical interaction. Just as rats and moles use whiskers to perceive surroundings, our system equips drones with tactile perception in flight, allowing obstacle sensing even in pitch-dark conditions. The apparatus uses barometer-based whisker sensors to detect obstacle locations while minimising destabilisation. To address sensor noise and drift, we develop a tactile depth estimation method achieving sub-6 mm accuracy. This enables drones to navigate, contour obstacles, and explore confined spaces solely through touch-even in total darkness along both soft and rigid surfaces. Running fully onboard a 192-KB RAM microcontroller, the system supports autonomous tactile flight and is validated in both simulation and real-world tests. Our bio-inspired approach redefines vision-free navigation, opening new possibilities for micro aerial vehicles in extreme environments.
Simulation to Rules: A Dual-VLM Framework for Formal Visual Planning
Venue: arXiv cs.RO 2025
Year: 2025

Vision Language Models (VLMs) show strong potential for visual planning but struggle with precise spatial and long-horizon reasoning. In contrast, Planning Domain Definition Language (PDDL) planners excel at long-horizon formal planning, but cannot interpret visual inputs. Recent works combine these complementary advantages by enabling VLMs to turn visual planning problems into PDDL files for formal planning. However, while VLMs can generate PDDL problem files satisfactorily, they struggle to accurately generate the PDDL domain files, which describe all the planning rules. As a result, prior methods rely on human experts to predefine domain files or on constant environment access for refinement. We propose VLMFP, a Dual-VLM-guided framework that can autonomously generate both PDDL problem and domain files for formal visual planning. VLMFP introduces two VLMs to ensure reliable PDDL file generation: A SimVLM that simulates action consequences based on input rule descriptions, and a GenVLM that generates and iteratively refines PDDL files by comparing the PDDL and SimVLM execution results. VLMFP unleashes multiple levels of generalizability: The same generated PDDL domain file works for all the different instances under the same problem, and VLMs generalize to different problems with varied appearances and rules. We evaluate VLMFP with 6 grid-world domains and test its generalization to unseen instances, appearance, and game rules. On average, SimVLM accurately describes 95.5%, 82.6% of scenarios, simulates 85.5%, 87.8% of action sequence, and judges 82.4%, 85.6% goal reaching for seen and unseen appearances, respectively. With the guidance of SimVLM, VLMFP can generate PDDL files to reach 70.0%, 54.1% valid plans for unseen instances in seen and unseen appearances, respectively. Project page: https://sites.google.com/view/vlmfp.
On the Hardness of the One-Sided Code Sparsifier Problem
Venue: arXiv cs.IT 2025
Year: 2025

The notion of code sparsification was introduced by Khanna, Putterman and Sudan (arxiv.2311.00788), as an analogue to the the more established notion of cut sparsification in graphs and hypergraphs. In particular, for $α\in (0,1)$ an (unweighted) one-sided $α$-sparsifier for a linear code $\mathcal{C} \subseteq \mathbb{F}_2^n$ is a subset $S\subseteq [n]$ such that the weight of each codeword projected onto the coordinates in $S$ is preserved up to an $α$ fraction. Recently, Gharan and Sahami (arxiv.2502.02799) show the existence of one-sided 1/2-sparsifiers of size $n/2+O(\sqrt{kn})$ for any linear code, where $k$ is the dimension of $\mathcal{C}$. In this paper, we consider the computational problem of finding a one-sided 1/2-sparsifier of minimal size, and show that it is NP-hard, via a reduction from the classical nearest codeword problem. We also show hardness of approximation results.
Dynamic Prompt Generation for Interactive 3D Medical Image Segmentation Training
Venue: arXiv cs.CV 2025
Year: 2025

Interactive 3D biomedical image segmentation requires efficient models that can iteratively refine predictions based on user prompts. Current foundation models either lack volumetric awareness or suffer from limited interactive capabilities. We propose a training strategy that combines dynamic volumetric prompt generation with content-aware adaptive cropping to optimize the use of the image encoder. Our method simulates realistic user interaction patterns during training while addressing the computational challenges of learning from sequential refinement feedback on a single GPU. For efficient training, we initialize our network using the publicly available weights from the nnInteractive segmentation model. Evaluation on the \textbf{Foundation Models for Interactive 3D Biomedical Image Segmentation} competition demonstrates strong performance with an average final Dice score of 0.6385, normalized surface distance of 0.6614, and area-under-the-curve metrics of 2.4799 (Dice) and 2.5671 (NSD).
Low-probability Tokens Sustain Exploration in Reinforcement Learning with Verifiable Reward
Venue: arXiv cs.LG 2025
Year: 2025

Reinforcement Learning with Verifiable Rewards (RLVR) has propelled Large Language Models in complex reasoning, yet its scalability is often hindered by a training bottleneck where performance plateaus as policy entropy collapses, signaling a loss of exploration. Previous methods typically address this by maintaining high policy entropy, yet the precise mechanisms that govern meaningful exploration have remained underexplored. Our analysis suggests that an unselective focus on entropy risks amplifying irrelevant tokens and destabilizing training. This paper investigates the exploration dynamics within RLVR and identifies a key issue: the gradual elimination of valuable low-probability exploratory tokens, which we term \textbf{\textit{reasoning sparks}}. We find that while abundant in pre-trained models, these sparks are systematically extinguished during RLVR due to over-penalization, leading to a degeneracy in exploration. To address this, we introduce Low-probability Regularization (Lp-Reg). Its core mechanism regularizes the policy towards a heuristic proxy distribution. This proxy is constructed by filtering out presumed noise tokens and re-normalizing the distribution over the remaining candidates. The result is a less-noisy proxy where the probability of \textit{reasoning sparks} is amplified, which then serves as a soft regularization target to shield these valuable tokens from elimination via KL divergence. Experiments show that Lp-Reg enables stable on-policy RL, sustaining continuous scaling across $3,000$ training steps and $81,204$ GPU-hours, where baseline entropy-control methods collapse. This sustained exploration leads to state-of-the-art performance, achieving a $60.17\%$ average accuracy on five math benchmarks, an improvement of $2.66\%$ over prior methods. Code is available at https://github.com/CarlanLark/Lp-Reg.
Self-Anchor: Large Language Model Reasoning via Step-by-step Attention Alignment
Venue: arXiv cs.CL 2025
Year: 2025

To solve complex reasoning tasks for Large Language Models (LLMs), prompting-based methods offer a lightweight alternative to fine-tuning and reinforcement learning. However, as reasoning chains extend, critical intermediate steps and the original prompt will be buried in the context, receiving insufficient attention and leading to errors. In this paper, we propose Self-Anchor, a novel pipeline that leverages the inherent structure of reasoning to steer LLM attention. Self-Anchor decomposes reasoning trajectories into structured plans and automatically aligns the model's attention to the most relevant inference steps, allowing the model to maintain focus throughout generation. Our experiment shows that Self-Anchor outperforms SOTA prompting methods across six benchmarks. Notably, Self-Anchor significantly reduces the performance gap between ``non-reasoning'' models and specialized reasoning models, with the potential to enable most LLMs to tackle complex reasoning tasks without retraining.
Test-Time Defense Against Adversarial Attacks via Stochastic Resonance of Latent Ensembles
Venue: arXiv cs.CV 2025
Year: 2025

We propose a test-time defense mechanism against adversarial attacks: imperceptible image perturbations that significantly alter the predictions of a model. Unlike existing methods that rely on feature filtering or smoothing, which can lead to information loss, we propose to "combat noise with noise" by leveraging stochastic resonance to enhance robustness while minimizing information loss. Our approach introduces small translational perturbations to the input image, aligns the transformed feature embeddings, and aggregates them before mapping back to the original reference image. This can be expressed in a closed-form formula, which can be deployed on diverse existing network architectures without introducing additional network modules or fine-tuning for specific attack types. The resulting method is entirely training-free, architecture-agnostic, and attack-agnostic. Empirical results show state-of-the-art robustness on image classification and, for the first time, establish a generic test-time defense for dense prediction tasks, including stereo matching and optical flow, highlighting the method's versatility and practicality. Specifically, relative to clean (unperturbed) performance, our method recovers up to 68.1% of the accuracy loss on image classification, 71.9% on stereo matching, and 29.2% on optical flow under various types of adversarial attacks.
MIXER: Mixed Hyperspherical Random Embedding Neural Network for Texture Recognition
Venue: arXiv cs.CV 2025
Year: 2025

Randomized neural networks for representation learning have consistently achieved prominent results in texture recognition tasks, effectively combining the advantages of both traditional techniques and learning-based approaches. However, existing approaches have so far focused mainly on improving cross-information prediction, without introducing significant advancements to the overall randomized network architecture. In this paper, we propose Mixer, a novel randomized neural network for texture representation learning. At its core, the method leverages hyperspherical random embeddings coupled with a dual-branch learning module to capture both intra- and inter-channel relationships, further enhanced by a newly formulated optimization problem for building rich texture representations. Experimental results have shown the interesting results of the proposed approach across several pure texture benchmarks, each with distinct characteristics and challenges. The source code will be available upon publication.
LEAML: Label-Efficient Adaptation to Out-of-Distribution Visual Tasks for Multimodal Large Language Models
Venue: arXiv cs.CV 2025
Year: 2025

Multimodal Large Language Models (MLLMs) have achieved strong performance on general visual benchmarks but struggle with out-of-distribution (OOD) tasks in specialized domains such as medical imaging, where labeled data is limited and expensive. We introduce LEAML, a label-efficient adaptation framework that leverages both scarce labeled VQA samples and abundant unlabeled images. Our approach generates domain-relevant pseudo question-answer pairs for unlabeled data using a QA generator regularized by caption distillation. Importantly, we selectively update only those neurons most relevant to question-answering, enabling the QA Generator to efficiently acquire domain-specific knowledge during distillation. Experiments on gastrointestinal endoscopy and sports VQA demonstrate that LEAML consistently outperforms standard fine-tuning under minimal supervision, highlighting the effectiveness of our proposed LEAML framework.
Towards Multimodal Active Learning: Efficient Learning with Limited Paired Data
Venue: arXiv cs.LG 2025
Year: 2025

Active learning (AL) is a principled strategy to reduce annotation cost in data-hungry deep learning. However, existing AL algorithms focus almost exclusively on unimodal data, overlooking the substantial annotation burden in multimodal learning. We introduce the first framework for multimodal active learning with unaligned data, where the learner must actively acquire cross-modal alignments rather than labels on pre-aligned pairs. This setting captures the practical bottleneck in modern multimodal pipelines such as CLIP and SigLIP, where unimodal features are easy to obtain but high-quality alignment is costly. We develop a new algorithm that combines uncertainty and diversity principles in a modality-aware design, achieves linear-time acquisition, and applies seamlessly to both pool-based and streaming-based settings. Extensive experiments on benchmark datasets demonstrate that our approach consistently reduces multimodal annotation cost while preserving performance; for instance, on the ColorSwap dataset it cuts annotation requirements by up to $40\%$ without loss in accuracy.
Numerion: A Multi-Hypercomplex Model for Time Series Forecasting
Venue: arXiv cs.LG 2025
Year: 2025

Many methods aim to enhance time series forecasting by decomposing the series through intricate model structures and prior knowledge, yet they are inevitably limited by computational complexity and the robustness of the assumptions. Our research uncovers that in the complex domain and higher-order hypercomplex spaces, the characteristic frequencies of time series naturally decrease. Leveraging this insight, we propose Numerion, a time series forecasting model based on multiple hypercomplex spaces. Specifically, grounded in theoretical support, we generalize linear layers and activation functions to hypercomplex spaces of arbitrary power-of-two dimensions and introduce a novel Real-Hypercomplex-Real Domain Multi-Layer Perceptron (RHR-MLP) architecture. Numerion utilizes multiple RHR-MLPs to map time series into hypercomplex spaces of varying dimensions, naturally decomposing and independently modeling the series, and adaptively fuses the latent patterns exhibited in different spaces through a dynamic fusion mechanism. Experiments validate the model`s performance, achieving state-of-the-art results on multiple public datasets. Visualizations and quantitative analyses comprehensively demonstrate the ability of multi-dimensional RHR-MLPs to naturally decompose time series and reveal the tendency of higher dimensional hypercomplex spaces to capture lower frequency features.
Semantic-Inductive Attribute Selection for Zero-Shot Learning
Venue: arXiv cs.LG 2025
Year: 2025

Zero-Shot Learning is an important paradigm within General-Purpose Artificial Intelligence Systems, particularly in those that operate in open-world scenarios where systems must adapt to new tasks dynamically. Semantic spaces play a pivotal role as they bridge seen and unseen classes, but whether human-annotated or generated by a machine learning model, they often contain noisy, redundant, or irrelevant attributes that hinder performance. To address this, we introduce a partitioning scheme that simulates unseen conditions in an inductive setting (which is the most challenging), allowing attribute relevance to be assessed without access to semantic information from unseen classes. Within this framework, we study two complementary feature-selection strategies and assess their generalisation. The first adapts embedded feature selection to the particular demands of ZSL, turning model-driven rankings into meaningful semantic pruning; the second leverages evolutionary computation to directly explore the space of attribute subsets more broadly. Experiments on five benchmark datasets (AWA2, CUB, SUN, aPY, FLO) show that both methods consistently improve accuracy on unseen classes by reducing redundancy, but in complementary ways: RFS is efficient and competitive though dependent on critical hyperparameters, whereas GA is more costly yet explores the search space more broadly and avoids such dependence. These results confirm that semantic spaces are inherently redundant and highlight the proposed partitioning scheme as an effective tool to refine them under inductive conditions.
Edge-FIT: Federated Instruction Tuning of Quantized LLMs for Privacy-Preserving Smart Home Environments
Venue: arXiv cs.LG 2025
Year: 2025

This paper proposes Edge-FIT (Federated Instruction Tuning on the Edge), a scalable framework for Federated Instruction Tuning (FIT) of Large Language Models (LLMs). Traditional Federated Learning (TFL) methods, like FedAvg, fail when confronted with the massive parameter size of LLMs [3], [6]. Our Edge-FIT framework combines federated learning with 4-bit Quantized Low-Rank Adaptation (QLORA), mitigating the core issues of communication and computational overhead. We demonstrate this by filtering the general-purpose Databricks Dolly 15k dataset for the IoT domain. Experimental results show the Edge-FIT tuned Llama 2(7B) achieves an F1-Score of 0.89. We also demonstrate a viable trade-off using the 3.8B Phi-3-mini model, validating Edge-FIT as a scalable framework for decentralized LLM deployment on home compute gateways.
SoC-DT: Standard-of-Care Aligned Digital Twins for Patient-Specific Tumor Dynamics
Venue: arXiv cs.CV 2025
Year: 2025

Accurate prediction of tumor trajectories under standard-of-care (SoC) therapies remains a major unmet need in oncology. This capability is essential for optimizing treatment planning and anticipating disease progression. Conventional reaction-diffusion models are limited in scope, as they fail to capture tumor dynamics under heterogeneous therapeutic paradigms. There is hence a critical need for computational frameworks that can realistically simulate SoC interventions while accounting for inter-patient variability in genomics, demographics, and treatment regimens. We introduce Standard-of-Care Digital Twin (SoC-DT), a differentiable framework that unifies reaction-diffusion tumor growth models, discrete SoC interventions (surgery, chemotherapy, radiotherapy) along with genomic and demographic personalization to predict post-treatment tumor structure on imaging. An implicit-explicit exponential time-differencing solver, IMEX-SoC, is also proposed, which ensures stability, positivity, and scalability in SoC treatment situations. Evaluated on both synthetic data and real world glioma data, SoC-DT consistently outperforms classical PDE baselines and purely data-driven neural models in predicting tumor dynamics. By bridging mechanistic interpretability with modern differentiable solvers, SoC-DT establishes a principled foundation for patient-specific digital twins in oncology, enabling biologically consistent tumor dynamics estimation. Code will be made available upon acceptance.
Multimodal Arabic Captioning with Interpretable Visual Concept Integration
Venue: arXiv cs.CV 2025
Year: 2025

We present VLCAP, an Arabic image captioning framework that integrates CLIP-based visual label retrieval with multimodal text generation. Rather than relying solely on end-to-end captioning, VLCAP grounds generation in interpretable Arabic visual concepts extracted with three multilingual encoders, mCLIP, AraCLIP, and Jina V4, each evaluated separately for label retrieval. A hybrid vocabulary is built from training captions and enriched with about 21K general domain labels translated from the Visual Genome dataset, covering objects, attributes, and scenes. The top-k retrieved labels are transformed into fluent Arabic prompts and passed along with the original image to vision-language models. In the second stage, we tested Qwen-VL and Gemini Pro Vision for caption generation, resulting in six encoder-decoder configurations. The results show that mCLIP + Gemini Pro Vision achieved the best BLEU-1 (5.34%) and cosine similarity (60.01%), while AraCLIP + Qwen-VL obtained the highest LLM-judge score (36.33%). This interpretable pipeline enables culturally coherent and contextually accurate Arabic captions.
Intelligent Healthcare Ecosystems: Optimizing the Iron Triangle of Healthcare (Access, Cost, Quality)
Venue: arXiv cs.CY 2025
Year: 2025

The United States spends nearly 17% of GDP on healthcare yet continues to face uneven access and outcomes. This well-known trade-off among cost, quality, and access - the "iron triangle" - motivates a system-level redesign. This paper proposes an Intelligent Healthcare Ecosystem (iHE): an integrated, data-driven framework that uses generative AI and large language models, federated learning, interoperability standards (FHIR, TEFCA), and digital twins to improve access and quality while lowering cost. We review historical spending trends, waste, and international comparisons; introduce a value equation that jointly optimizes access, quality, and cost; and synthesize evidence on the enabling technologies and operating model for iHE. Methods follow a narrative review of recent literature and policy reports. Results outline core components (AI decision support, interoperability, telehealth, automation) and show how iHE can reduce waste, personalize care, and support value-based payment while addressing privacy, bias, and adoption challenges. We argue that a coordinated iHE can bend - if not break - the iron triangle, moving the system toward care that is more accessible, affordable, and high quality.
Matching the Optimal Denoiser in Point Cloud Diffusion with (Improved) Rotational Alignment
Venue: arXiv cs.LG 2025
Year: 2025

Diffusion models are a popular class of generative models trained to reverse a noising process starting from a target data distribution. Training a diffusion model consists of learning how to denoise noisy samples at different noise levels. When training diffusion models for point clouds such as molecules and proteins, there is often no canonical orientation that can be assigned. To capture this symmetry, the true data samples are often augmented by transforming them with random rotations sampled uniformly over $SO(3)$. Then, the denoised predictions are often rotationally aligned via the Kabsch-Umeyama algorithm to the ground truth samples before computing the loss. However, the effect of this alignment step has not been well studied. Here, we show that the optimal denoiser can be expressed in terms of a matrix Fisher distribution over $SO(3)$. Alignment corresponds to sampling the mode of this distribution, and turns out to be the zeroth order approximation for small noise levels, explaining its effectiveness. We build on this perspective to derive better approximators to the optimal denoiser in the limit of small noise. Our experiments highlight that alignment is often a `good enough' approximation for the noise levels that matter most for training diffusion models.